Paint surface coating device for automobile bottom bridge

Abstract

The invention discloses an automobile bottom bridge paint surface coating device, and relates to the technical field of automobile intelligent manufacturing, the automobile bottom bridge paint surface coating device comprises a supporting foundation, and the supporting foundation comprises two supporting tables and a connecting plate fixed at the bottom end position between the two supporting tables; tire supporting pedals used for supporting front tires and rear tires of an automobile are arranged between the two cross beams, located on the same side, of the two center bases, and the size of a gap between the two tire supporting pedals can be adjusted. The mechanical arm is provided with a base horizontally sliding on the upper end face of the connecting plate for adjustment, a rotating column rotationally arranged on the base, a first electric air cylinder embedded in the upper end face of the rotating column, a swing arm vertically swinging at the telescopic end of the first electric air cylinder for adjustment and a second electric air cylinder installed at the end of the swing arm, and the spray gun is installed on the side wall of the end of the second electric air cylinder. The system further comprises a PID controller. According to the device, automatic coating of the damaged paint surface of the automobile bottom bridge is achieved, the problems of site space requirements and potential safety hazards caused by lifting of an automobile for coating are solved, and meanwhile potential hazards of manual coating are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile intelligent manufacturing, and in particular to a paint coating device for an automobile underbridge. Background Art

[0002] As an important supporting structure of the car, the underbridge is in direct contact with the road surface and is easily corroded by various corrosive substances. Therefore, it is very important to carry out anti-corrosion treatment on the underbridge.

[0003] In the prior art, when painting the underbridge of an automobile, a chassis armor coating is selected. A chassis armor coating of reliable quality is selected and mixed according to the product instructions. The mixed coating is evenly applied to the underbridge using a professional spray gun or brush. When painting, the automobile needs to be lifted by a lifting frame and placed at a certain height before painting. This method of painting the underbridge of an automobile has the following problems: 1. The lifting frame needs to occupy a large amount of height space, and has high requirements for the use site. Moreover, once the lifting frame parts are damaged, the car will fall and a safety accident may easily occur.

[0004] 2. For local spray painting, in most cases, the paint is applied manually. Even when wearing a protective mask, the formaldehyde mixed in the paint ingredients will be inhaled into the nasal cavity by the workers, causing great harm to the human respiratory tract and even posing a risk of cancer. Summary of the invention

[0005] The object of the present invention is to provide a vehicle underbridge paint coating device to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a paint coating device for an automobile underbridge, comprising a supporting base, the supporting base comprising two supporting platforms and a connecting plate fixed at the bottom end position between the two supporting platforms, the two supporting platforms are fixed with a central seat on the opposite side walls, the two side walls of the central seat are plugged with a cross beam, a tire support pedal for supporting the front and rear tires of the automobile is provided between the two cross beams on the same side of the two central seats, and the gap between the two tire support pedals can be adjusted; A mechanical arm and a spray gun, wherein the mechanical arm comprises a base that can be adjusted by horizontal sliding on the end surface of a connecting plate, a rotating column that is rotatably arranged on the base, an electric cylinder 1 embedded in the upper end surface of the rotating column, a swing arm that can be adjusted by swinging up and down at the telescopic end of the electric cylinder 1, and an electric cylinder 2 installed at the end of the swing arm, and the spray gun is installed on the side wall of the end of the electric cylinder 2; It also includes a PID controller, which has a built-in PID algorithm for controlling the swing angle and height of the robotic arm, thereby adjusting the coating position of the spray gun. The PID controller is used to control the horizontal sliding adjustment of the base on the connecting plate, the rotation adjustment of the rotating column with the upper end surface of the base as the rotation plane, the vertical telescopic adjustment of the electric cylinder one, the vertical swing adjustment of the swing arm around the rotation position of the telescopic end of the electric cylinder one, and the telescopic adjustment of the electric cylinder two along the end of the swing arm, thereby synchronously adjusting the position and angle of the spray gun.

[0007] In a further embodiment, both ends of the tire support pedal are provided with plug holes, one of the plug holes is slidably connected to the outer wall of one of the cross beams, and the other plug hole is threadedly connected to the outer wall of another cross beam on the same side.

[0008] In a further embodiment, two grooves are provided on the upper surface of one of the support platforms, and openings located on both sides of the center seat are provided on the side wall facing the center seat, and a plurality of T-shaped lifting grooves are provided on the side wall facing the opening in the groove, a T-shaped lifting plate is slidably inserted in the T-shaped lifting groove, and a spring located on the bottom wall of the T-shaped lifting plate is fixed in the T-shaped lifting groove, and a tooth plate is fixed after the end of the T-shaped lifting plate extends out of the notch, and a plurality of T-shaped lifting plates corresponding to the same opening are grouped together, and a group of T-shaped lifting plates is gradually lowered from the side close to the center seat to the side away from the center seat, and are distributed in sequence along the inclined direction; A column is fixed on the upper end surface of the same group of multiple T-shaped lifting plates, and a lower pressing plate with a triangular structure is fixed on the upper end surface of the column.

[0009] In a further embodiment, a transmission cavity is provided in the center seat, the ends of the two cross beams are rotatably extended into the transmission cavity and fixed with a toothed disc 1, a connecting rod 1 is rotatably connected between the two toothed discs 1, the opposite side walls in the groove are rotatably provided with a rotation shaft, and the outer wall of the rotation shaft is fixedly sleeved with a plurality of toothed discs 2 located in the same vertical plane as each toothed plate, the ends of the two rotation shafts are fixed with toothed discs 3, and a connecting rod 2 is rotatably connected between the two toothed discs 3, a transmission opening is opened on the side wall of the center seat facing the toothed disc 3, the toothed disc 3 is located in the transmission opening and meshes with the toothed disc 1; When the car tire drives onto the inclined surface of the lower pressure plate, the lower pressure plate, the column and the T-shaped lifting plate descend, the spring is compressed, and the toothed plate close to the side wall of the support platform first contacts the corresponding toothed disc 2, and the remaining toothed plates pass through the corresponding toothed disc 2 in turn. When the toothed plate passes through the toothed disc 2, it provides power for the rotation of the rotating shaft. At the same time, the toothed disc 3 drives the toothed disc 1 to rotate, providing power for the rotation of the crossbeam.

[0010] In a further embodiment, L-shaped linkage strips are fixed on the side walls of the same group of multiple T-shaped lifting plates, and a T-shaped lifting plate close to the side wall of the support platform is not provided with an L-shaped linkage strip, and the end bottom wall of the L-shaped linkage strip is attached to the upper end surface of an adjacent T-shaped lifting plate.

[0011] In a further embodiment, a connecting hole is provided between two adjacent T-shaped lifting grooves, and the connecting hole is used for the L-shaped linkage pressure strip to slide through.

[0012] In a further embodiment, both ends of the bottom wall of the tire support pedal are fixed with an inverted T-shaped support frame, and both ends of the bottom end of the inverted T-shaped support frame are rotatably provided with rollers, and the rollers are rollingly arranged on the upper surface of the connecting plate; A blocking protrusion is fixed on one end of the upper end surface of the tire support pedal.

[0013] In a further embodiment, the tops of the two support platforms that are away from each other are both hinged with support inclined plates; An anti-slip disk is fixed to the end of the crossbeam.

[0014] In a further embodiment, the PID controller is embedded in one of the support platforms, and the signal input port of the PID controller is connected to a smart touch screen, a high-definition camera, a grating encoder, a speed sensor, and a position sensor; The signal output port of the PID controller is respectively connected to electric cylinder one and electric cylinder two, and the signal output port of the PID controller is also connected to motor one, motor two and motor three. Motor two is embedded in one of the support platforms, and a threaded rod is fixed to the output end of motor two. The base is transversely provided with a threaded hole for threaded insertion with the threaded rod. Motor three is embedded in the bottom wall of the rotating column, and the output end of motor three is fixedly connected to the upper end surface of the base. Motor one is fixed to the side wall of the swing arm, and the output end of motor one is fixedly connected to the telescopic end side wall of electric cylinder one after rotating through the side wall of the swing arm.

[0015] In a further embodiment, the signal output port of the PID controller is also connected to a negative pressure pump, the liquid inlet of the negative pressure pump is connected to a paint storage box through a conduit, and the liquid outlet of the negative pressure pump is connected to the liquid inlet of the spray gun through a conduit.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention is a paint coating device for automobile underbridges. It can realize automatic coating of damaged paint surfaces on automobile underbridges without the need to lift the automobile by means of a lifting frame, thereby solving the problems of site space requirements and potential safety hazards caused by lifting the automobile for coating, and also avoiding potential physical harm caused by manual coating. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the main structure of the present invention; Figure 2 It is a schematic diagram of the tire support pedal structure of the present invention; Figure 3 A partial cross-sectional view of the assembly of the lower pressing plate, the adjusting member and the supporting platform of the present invention; Figure 4 It is a schematic diagram of the assembly structure of multiple lower pressing plates, connecting rods, T-shaped lifting plates and springs of the present invention; Figure 5 It is a schematic diagram of the structure of the adjusting member of the present invention; Figure 6 It is a schematic diagram of the split structure of the T-shaped lifting plate and the adjusting member of the present invention; Figure 7 It is a schematic diagram of the distribution structure of the T-shaped lifting plate and the toothed disc of the present invention; Figure 8 It is a schematic diagram of the pressing structure of the local pressing plate of the present invention; Fig. 9 For the present invention Figure 3 A magnified view of the structure at center; Fig.10 It is a schematic diagram of the structure of the mechanical arm of the present invention; Fig.11 This is a block diagram of the robot arm control system of the present invention.

[0018] In the figure: 1. supporting inclined plate; 2. supporting platform; 21. groove; 22. connecting hole; 3. connecting plate; 4. tire supporting pedal; 41. blocking convex block; 42. crossbeam; 43. roller; 44. rotating shaft; 45. gear disc two; 46. gear disc three; 47. gear disc one; 5. center seat; 6. rotating column; 61. threaded rod; 62. swing arm; 63. electric cylinder two; 64. spray gun; 65. motor one; 66. electric cylinder one; 67. motor two; 68. negative pressure pump; 69. base; 610. motor three; 7. lower pressure plate; 71. column; 72. T-type lifting plate; 73. spring; 74. L-type linkage pressure strip; 75. gear plate; 8. PID controller; 81. high-definition camera; 82. grating encoder; 83. speed sensor; 84. position sensor. DETAILED DESCRIPTION

[0019] The following will be described clearly and completely in conjunction with the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Embodiment, this embodiment provides a vehicle bottom bridge paint coating device, such as Figure 1 and Figure 2 As shown, the supporting base includes two supporting platforms 2 and a connecting plate 3 fixed at the bottom between the two supporting platforms 2. The two supporting platforms 2 are fixed with a center seat 5 on the opposite side walls. The two side walls of the center seat 5 are plugged with cross beams 42. A tire support pedal 4 for supporting the front and rear tires of the car is provided between the two cross beams 42 on the same side of the two center seats 5. A supporting inclined plate 1 is hinged at the top of the ends of the two supporting platforms 2 that are away from each other. Figure 1 It can be clearly shown that the direction indicated by arrow Q is the direction of the car entering, that is, driving along one of the support inclined plates 1 onto the support platform 2, and the tires on both sides of the car respectively enter the two tire support pedals 4, and a blocking protrusion 41 is fixed at one end of the upper surface of the tire support pedal 4. When the front wheel of the car touches the blocking protrusion 41, the driver can clearly feel that the car has resistance to moving forward, so the car is parked and turned off at this time, indicating that the car is completely placed on the support foundation. Then wait for the car bottom bridge to be painted.

[0021] Since the distances between the front wheels or rear wheels of cars of different brands are different, when a car drives onto the two tire support pedals 4, it is easy for the car to fall onto the connecting plate 3 due to position deviation, and effective coating operation cannot be performed. For this reason, the gap between the two tire support pedals 4 can be adjusted. The gap between the two tire support pedals 4 can be adjusted according to the gap between the two front wheels or the two rear wheels of the car to be coated to ensure that the car tires can accurately drive onto the tire support pedals 4.

[0022] Specifically, if Figure 1 and Figure 3 As shown, both ends of the tire support pedal 4 are provided with plug holes, one of which is slidably connected to the outer wall of one of the cross beams 42, and the other plug hole is threadedly connected to the outer wall of the other cross beam 42 on the same side. Figure 1 As shown, one of the support platforms 2 at the vehicle entry end has a relatively thick front and rear thickness, and the corresponding cross beams 42 on both sides of the center seat 5 are rotatably plugged in. When the cross beams 42 on both sides are threadedly connected with the corresponding tire support pedals 4, the thread rotation directions are set in opposite directions. When the two cross beams 42 rotate synchronously in the same direction, the two tire support pedals 4 are adjusted to move closer to each other or farther away from each other. The cross beams 42 on both sides of the other center seat 5 are fixedly plugged in, and only play the role of sliding plugging in the corresponding plug-in holes to cooperate with the tire support pedals 4 to move closer to each other or farther away from each other. In addition, an anti-slip disc is fixed at the end of the cross beam 42 to prevent the tire support pedal 4 from detaching from the cross beam 42.

[0023] In order to adaptively adjust the gap between the two tire support pedals 4, Figure 3 , Figure 4, two grooves 21 are provided on the upper end surface of one of the support platforms 2, and openings located on both sides of the center seat 5 are provided on the side wall facing the center seat 5, and multiple T-shaped lifting grooves are provided on the side wall facing the opening in the groove 21, and a T-shaped lifting rod is slidably inserted in the T-shaped lifting groove, and a spring 73 located on the bottom wall of the T-shaped lifting rod is fixed in the T-shaped lifting groove, and a tooth plate 75 is fixed after the end of the T-shaped lifting rod extends out of the groove. Multiple T-shaped lifting plates 72 corresponding to the same opening are grouped together, and a column 71 is fixed on the upper end surface of the same group of multiple T-shaped lifting plates 72, and a triangular structure lower pressure plate 7 is fixed on the upper end surface of the column 71.

[0024] like Figure 5 , Figure 6 and Figure 7 As shown, a transmission cavity is provided in the center seat 5, and the ends of the two cross beams 42 are both rotated to extend into the transmission cavity and fixed with a toothed disc 1 47, and a connecting rod 1 is rotatably connected between the two toothed discs 1 47. By setting the connecting rod 1, the two toothed discs 1 47 are prevented from moving laterally in the transmission cavity, causing the position of the cross beam 42 to change. The opposite side walls in the groove 21 are both rotatably provided with a rotating shaft 44, and the outer wall of the rotating shaft 44 is fixedly sleeved with a plurality of toothed discs 2 45 located in the same vertical plane as each toothed plate 75, and the ends of the two rotating shafts 44 are both fixed with toothed discs 3 46, and a connecting rod 2 is rotatably connected between the two toothed discs 3 46. The setting of the connecting rod 2 can enhance the transmission stability and prevent the toothed discs 3 46 from shaking when meshing with the toothed disc 1 47. A transmission opening is provided on the side wall of the center seat 5 facing the gear disc three 46. The gear disc three 46 is located in the transmission opening and meshes with the gear disc one 47. The gear plate 75 is lowered through the gear disc two 45 to drive the rotating shaft 44 to rotate synchronously, so that the gear disc three 46 rotates synchronously with the gear disc one 47, and the cross beam 42 also rotates synchronously.

[0025] A group of T-shaped lifting plates 72 are gradually lowered from the side close to the center seat 5 to the side away from the center seat 5, and are distributed in sequence along the inclined direction; at the same time, in order to ensure that the crossbeam 42 rotates to form a travel requirement that meets the lateral adjustment of the tire support pedal 4, an L-shaped linkage pressure strip 74 is fixed to the side wall of the same group of multiple T-shaped lifting plates 72, and a T-shaped lifting plate 72 close to the side wall of the support platform 2 is not provided with an L-shaped linkage pressure strip 74, and the end bottom wall of the L-shaped linkage pressure strip 74 is attached to the upper end surface of an adjacent T-shaped lifting plate 72, and, as Fig. 9 As shown, a connecting hole 22 is opened between two adjacent T-shaped lifting grooves, and the connecting hole 22 is used for the L-shaped linkage pressure strip 74 to slide through, so as not to affect the up and down sliding adjustment operation of the L-shaped linkage pressure strip 74.

[0026] like Figure 7As shown, the vertical height between the tooth plate 75 located at the uppermost side and the tooth plate 75 at the lowermost side is L1, that is, when the automobile tire is pressed on a lower pressure plate 7 away from the side wall of the support platform 2, the corresponding column 71 and T-shaped lifting plate 72 act as transmission components to drive the corresponding tooth plate 75 to adjust downward, and the spring 73 will be compressed in the T-shaped lifting groove to generate rebound potential energy. In this process, an adjacent T-shaped lifting plate 72 will be pressed down by the L-shaped linkage pressure strip 74, thereby driving the corresponding tooth plate 75 to adjust downward. The remaining T-shaped lifting plates 72 will also be pressed down by the corresponding L-shaped linkage pressure strip 74, thereby driving the corresponding tooth plate 75 to adjust downward, and all tooth plates 75 will be pressed down through the corresponding tooth disc 2 45 in turn.

[0027] For example, if Figure 8 As shown, when the car tire is pressed Figure 8 After the lower pressure plate 7 indicated by the middle arrow Q1 is on, the corresponding column 71 and T-shaped lifting plate 72 act as transmission components to drive the corresponding toothed plate 75 to adjust downward, and the spring 73 will be compressed in the T-shaped lifting groove to generate rebound potential energy. In this process, the adjacent T-shaped lifting plate 72 will be pressed down by the L-shaped linkage pressure strip 74, thereby driving the corresponding toothed plate 75 to adjust downward. That is to say, the lowest toothed plate 75 first passes through the corresponding toothed disc 2 45, followed by a higher toothed plate 75 that passes through the corresponding toothed disc 2 45, assuming that the height of the two toothed plates 75 is L. Looking at the rotation stroke of the crossbeam 42, the two toothed discs 45 are passed by the two toothed plates 75 in turn, the rotating shaft 44 drives the toothed disc 3 46 to rotate synchronously, and the toothed disc 1 47 drives the crossbeam 42 to rotate synchronously, driving the tire support pedal 4 to adjust horizontally, and the length of the horizontal adjustment is also L, ensuring that the tire support pedal 4 can be adjusted to the position of the lower pressure plate 7 where the wheel body rolls. When the car continues to move forward, it can accurately drive onto the tire support pedal 4.

[0028] The specific process of adjusting the gap between the two tire support pedals 4 is as follows: after the automobile tire drives onto the corresponding support platform 2 from the support inclined plate 1, it will roll on the corresponding lower pressure plate 7, then the column 71 and the T-shaped lifting plate 72 are used as transmission components to drive the corresponding toothed plate 75 to adjust downward, and the toothed plate 2 45 will rotate through the corresponding toothed plate 2, so that the rotating shaft 44 will drive the toothed plate 3 46 to rotate synchronously, and the rotating toothed plate 3 46 will be linked to the toothed plate 1 47, which can drive the crossbeam 42 to rotate synchronously and adjust, and finally adjust the tire support pedal 4 horizontally to a position facing the front and rear of the tire, so as to ensure that the automobile tire can accurately drive onto the tire support pedal 4. At the same time, an inverted T-shaped support frame is fixed at both ends of the bottom wall of the tire support pedal 4, and rollers 43 are rotatably provided at both ends of the bottom end of the inverted T-shaped support frame, and the rollers 43 are rollingly arranged on the upper end surface of the connecting plate 3, and the rollers 43 are rollingly supported by the inverted T-shaped support frame to cooperate with the lateral adjustment of the tire support pedal 4, so as to enhance the support strength and support stability of the tire support pedal 4.

[0029] In summary, the height of the support platform 2 is relatively low, and the car only needs to be driven onto the two tire support pedals 4, with the bottom bridge of the car exposed in the space between the two tire support pedals 4, and then it can be painted. There is no need to use a lifting frame to lift the car, which solves the problems of site space requirements and safety hazards caused by lifting the car for painting.

[0030] After the automobile has fully entered the two tire support pedals 4, the spraying operation can be carried out.

[0031] In this embodiment, a mechanical arm and a spray gun 64 are also disclosed. Fig.10 As shown, the mechanical arm comprises a base 69 which is horizontally slidably adjusted on the upper end surface of the connecting plate 3, a rotating column 6 which is rotatably arranged on the base 69, an electric cylinder 1 66 which is embedded in the upper end surface of the rotating column 6, a swing arm 62 which is swung up and down and adjusted at the telescopic end of the electric cylinder 1 66, and an electric cylinder 2 63 which is installed at the end of the swing arm 62, and a spray gun 64 is installed on the side wall of the end of the electric cylinder 2 63; It also includes a PID controller 8, which has a built-in PID algorithm for controlling the swing angle and height of the robot arm, thereby adjusting the coating position of the spray gun 64.

[0032] Specifically, if Fig.11 As shown, the PID controller 8 is embedded in one of the support platforms 2, the signal input port of the PID controller 8 is connected to the intelligent touch screen, the high-definition camera 81, the grating encoder 82, the speed sensor 83 and the position sensor 84, the signal output port of the PID controller 8 is respectively connected to the electric cylinder 1 66 and the electric cylinder 2 63, and the signal output port of the PID controller 8 is also connected to the motor 1 65, the motor 2 67 and the motor 3 610, the motor 2 67 is embedded in one of the support platforms 2, and the output end of the motor 2 67 is fixed with the threaded rod 61, the base 69 is horizontally provided with a threaded hole for threaded insertion with the threaded rod 61, the motor 2 67 is rotated by the threaded rod 61, drives the threaded rod 61 to rotate forward and reverse, and drives the base 69 to adjust horizontally back and forth on the upper end face of the connecting plate 3. The motor 3 610 is embedded in the bottom wall of the rotating column 6, the output end of the motor 3 610 is fixedly connected to the upper end face of the base 69, and the motor 3 610 provides power for the rotating column 6 to rotate on the upper end face of the base 69. Motor 1 65 is fixed to the side wall of the swing arm 62, and the output end of motor 1 65 is fixedly connected to the side wall of the telescopic end of electric cylinder 1 66 after rotating through the side wall of the swing arm 62, and motor 1 65 provides power for the swing arm 62 to swing up and down.

[0033] The signal output port of the PID controller 8 is also connected to a negative pressure pump 68, the liquid inlet of the negative pressure pump 68 is connected to a paint storage box through a conduit, and the liquid outlet of the negative pressure pump 68 is connected to the liquid inlet of the spray gun 64 through a conduit, and the negative pressure pump 68 is used to provide paint for the spray gun 64 to spray paint.

[0034] In this embodiment, there are two rotating joints, one for the rotation angle of the rotating column 6, and the other for the swing angle of the swing arm 62, two height adjustments, the telescopic distance of the electric cylinder 1 66, and the horizontal length adjustment, the telescopic distance of the electric cylinder 2 63. Finally, the spray gun 64 is adjusted to the position to be sprayed. Automatic coating of the damaged paint surface of the bottom bridge of the car is realized, without manual spraying, avoiding the potential physical harm caused by manual coating.

[0035] The adjustment process of the robot arm is as follows: the approximate coordinates of the spraying position are input through the intelligent touch screen, such as the rotation speed and number of rotation steps of motor 1 65, motor 2 67, and motor 3 610, and the speed sensor 83 feeds back the speed data of motor 1 65, motor 2 67, and motor 3 610. The swing arm 62 is equipped with an angle sensor, which is connected to the signal input end of the PID controller 8, and the PID algorithm built into the PID controller 8 is used for data processing to feed back the current angle information of the swing arm 62 in real time.

[0036] When calculating the PID algorithm, first define the variables: Target Angle: θtarget,1\theta{\text{target,1}}θtarget,1.

[0037] θtarget,2\theta{\text{target,2}}θtarget,2 represent the target angles of the rotation angle of the rotating column 6 and the swing angle of the swing arm 62 respectively.

[0038] Actual angle: θactual,1(t)\theta{\text{actual,1}}(t)θactual,1(t).

[0039] θactual,2(t)\theta{\text{actual,2}}(t)θactual,2(t) respectively represent the actual angles of the rotation angle of the rotating column 6 and the swing angle of the swing arm 62.

[0040] In addition, the signal output port of the PID controller 8 is connected to an infrared distance measuring sensor, which is embedded in the side wall of the end of the spray gun 64 and is used to measure the distance between the nozzle of the spray gun 64 and the position to be sprayed, and feed back to the PID controller 8. The distance between the nozzle of the spray gun 64 and the spraying position is preset through the smart touch screen, which is generally more suitable within the range of 10-20cm.

[0041] In this way, when the picture taken by the high-definition camera 81 is fed back to the PID controller 8 for data processing, combined with the preset coordinates, and the grating encoder 82 is used to capture the spraying position in real time, and the position sensor 84 is used to measure the spraying position of the spray gun 64 in real time, the PID controller 8 calculates and processes through the PID algorithm, and then controls the horizontal sliding adjustment of the base 69 on the connecting plate 3, the rotation adjustment of the rotating column 6 with the upper end surface of the base 69 as the rotation plane, the vertical telescopic adjustment of the electric cylinder 1 66, the vertical swing adjustment of the swing arm 62 around the rotation position of the telescopic end of the electric cylinder 1 66, and the telescopic adjustment of the electric cylinder 2 63 along the end of the swing arm 62, thereby synchronously adjusting the position and angle of the spray gun 64.

[0042] In summary, the above control system implements closed-loop control and continuously adjusts the control output according to real-time feedback information to ensure that the spray gun 64 connected to the robot arm stably and accurately reaches the target angle / position.

[0043] When the spraying is completed, after the rear wheel of the car tire drives out of the tire support pedal 4, the spring 73 is reset, and the T-shaped lifting plate 72 together with the lower pressure plate 7 and the column 71 are raised and reset, and the tooth plate 75 passes through the tooth plate 2 45 again to provide power for the rotation of the rotating shaft 44. At the same time, the tooth plate 3 46 drives the tooth plate 1 47 to rotate, providing power for the reverse rotation of the beam 42, so as to adjust the beam 42 in the reverse direction to the initial state, waiting for subsequent use.

[0044] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A paint coating device for an automobile underbridge, characterized in that: include: A support base, the support base comprising two support platforms (2) and a connecting plate (3) fixed at the bottom end position between the two support platforms (2), central seats (5) being fixed to opposite side walls of the two support platforms (2), cross beams (42) being inserted into the two side walls of the central seats (5), a tire support pedal (4) for supporting the front and rear tires of the vehicle being provided between the two cross beams (42) located on the same side of the two central seats (5), and a gap between the two tire support pedals (4) being adjustable; A mechanical arm and a spray gun (64), the mechanical arm comprising a base (69) that can be slid horizontally and adjusted on the upper end surface of a connecting plate (3), a rotating column (6) that is rotatably arranged on the base (69), an electric cylinder (66) that is embedded in the upper end surface of the rotating column (6), a swing arm (62) that can be swung up and down and adjusted at the telescopic end of the electric cylinder (66), and an electric cylinder (63) that is installed at the end of the swing arm (62), and the spray gun (64) is installed on the side wall of the end of the electric cylinder (63); It also includes a PID controller (8), wherein the PID controller (8) has a built-in PID algorithm for controlling the swing angle and height of the robot arm, thereby adjusting the coating position of the spray gun (64).

2. The automobile underbridge paint coating device according to claim 1, characterized in that: Both ends of the tire support pedal (4) are provided with plug holes, one of which is slidably sleeved with the outer wall of one of the cross beams (42), and the other plug hole is threadedly connected with the outer wall of another cross beam (42) on the same side.

3. The automobile underbridge paint coating device according to claim 2, characterized in that: Two grooves (21) are provided on the upper end surface of one of the support platforms (2), and openings located on both sides of the center seat (5) are provided on the side wall facing the center seat (5), and a plurality of T-shaped lifting grooves are provided on the side wall facing the opening in the groove (21), a T-shaped lifting plate (72) is slidably inserted in the T-shaped lifting groove, and a spring (73) located on the bottom wall of the T-shaped lifting plate (72) is fixed in the T-shaped lifting groove, and a tooth plate (75) is fixed after the end of the T-shaped lifting plate (72) protrudes out of the groove, and a plurality of T-shaped lifting plates (72) corresponding to the same opening form a group, and a group of T-shaped lifting plates (72) are gradually lowered from a side close to the center seat (5) to a side away from the center seat (5) and are distributed in sequence along the inclined direction; A column (71) is fixed to the upper end surface of the same group of multiple T-shaped lifting plates (72), and a lower pressing plate (7) with a triangular structure is fixed to the upper end surface of the column (71).

4. The automobile underbridge paint coating device according to claim 3, characterized in that: The center seat (5) is provided with a transmission cavity, the ends of the two cross beams (42) are rotatably extended into the transmission cavity and fixed with a toothed disc 1 (47), a connecting rod 1 is rotatably connected between the two toothed discs 1 (47), the opposite side walls in the groove (21) are rotatably provided with a rotation shaft (44), and the outer wall of the rotation shaft (44) is fixedly sleeved with a plurality of toothed discs 2 (45) located in the same vertical plane as each toothed plate (75), the ends of the two rotation shafts (44) are fixed with a toothed disc 3 (46), and a connecting rod 2 is rotatably connected between the two toothed discs 3 (46), and a transmission opening is opened on the side wall of the center seat (5) facing the toothed disc 3 (46), and the toothed disc 3 (46) is located in the transmission opening and meshes with the toothed disc 1 (47); When the automobile tire drives onto the inclined surface of the lower pressure plate (7), the lower pressure plate (7), the column (71) and the T-shaped lifting plate (72) are lowered, the spring is compressed, and the toothed plate (75) close to the side wall of the support platform (2) first contacts the corresponding toothed disc 2 (45), and the remaining toothed plates (75) pass through the corresponding toothed disc 2 (45) in sequence. When the toothed plate (75) passes through the toothed disc 2 (45), it provides power for the rotation of the rotating shaft (44), and at the same time, the toothed disc 3 (46) drives the toothed disc 1 (47) to rotate, providing power for the rotation of the crossbeam (42).

5. The automobile underbridge paint coating device according to claim 4, characterized in that: An L-shaped linkage strip (74) is fixed on the side walls of the same group of multiple T-shaped lifting plates (72), and a T-shaped lifting plate (72) close to the side wall of the support platform (2) is not provided with an L-shaped linkage strip (74), and the end bottom wall of the L-shaped linkage strip (74) is attached to the upper end surface of an adjacent T-shaped lifting plate (72).

6. The automobile underbridge paint coating device according to claim 5, characterized in that: A connecting hole (22) is provided between two adjacent T-shaped lifting grooves, and the connecting hole (22) is used for the L-shaped linkage pressure strip (74) to slide through.

7. The automobile underbridge paint coating device according to claim 1, characterized in that: Both ends of the bottom wall of the tire support pedal (4) are fixed with an inverted T-shaped support frame, and both ends of the bottom end of the inverted T-shaped support frame are rotatably provided with rollers (43), and the rollers (43) are rollingly arranged on the upper end surface of the connecting plate (3); A blocking protrusion (41) is fixed to one end of the upper end surface of the tire support pedal (4).

8. The automobile underbridge paint coating device according to claim 1, characterized in that: The tops of the two supporting platforms (2) that are away from each other are both hingedly connected with supporting inclined plates (1); An anti-slip disc is fixed to the end of the crossbeam (42).

9. The vehicle underbridge paint coating device according to any one of claims 1 to 8, characterized in that: The PID controller (8) is embedded in one of the support platforms (2), and a signal input port of the PID controller (8) is connected to a smart touch screen, a high-definition camera (81), a grating encoder (82), a speed sensor (83), and a position sensor (84); The signal output port of the PID controller (8) is respectively connected to the electric cylinder 1 (66) and the electric cylinder 2 (63). The signal output port of the PID controller (8) is also connected to the motor 1 (65), the motor 2 (67), and the motor 3 (610). The motor 2 (67) is embedded in one of the support platforms (2), and the output end of the motor 2 (67) is fixed with a threaded rod (61). The base (69) is transversely provided with a threaded hole for threaded insertion with the threaded rod (61). The motor 3 (610) is embedded in the bottom wall of the rotating column (6). The output end of the motor 3 (610) is fixedly connected to the upper end surface of the base (69). The motor 1 (65) is fixed to the side wall of the swing arm (62). The output end of the motor 1 (65) is fixedly connected to the side wall of the telescopic end of the electric cylinder 1 (66) after rotating through the side wall of the swing arm (62).

10. The vehicle underbridge paint coating device according to claim 9, characterized in that: The signal output port of the PID controller (8) is also connected to a negative pressure pump (68), the liquid inlet of the negative pressure pump (68) is connected to a paint storage box via a conduit, and the liquid outlet of the negative pressure pump (68) is connected to the liquid inlet of the spray gun (64) via a conduit.

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